VisualVector.h

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/************************************************************************************************/
/*! \file VisualVector.h
*  \brief The Visual Vector  class provides the interface for h/w webcams.
*  \author $Author: lljones $
*  \version $Revision: 1.1 $
*  \date    $Date: 2007/03/29 23:03:43 $
************************************************************************************************/
/*! 
*
************************************************************************************************/
 
#ifndef __VISUAL_VECTOR_H__
#define __VISUAL_VECTOR_H__

#include <Base/Sensor.h>
#include <matrix/Matrix.h>
#include "dsacssinterface.h"
#include "cv.h"
#include "cxcore.h"
#include "highgui.h"

using namespace O_SESSAME;

class VisualVector : public Sensor  
{
public:
        // Contructors/Deconstructors
        VisualVector();
        VisualVector(bool debug);       //takes local variable to use debug mode
        virtual ~VisualVector();

        // Facilitators

        // Inspectors
        Measurement GetMeasurement();
        Vector GetVectorMeasurement(); 

private:
        IplImage* WorkingImage;
        IplImage* RawImage;
        CvCapture* capture;
        bool Debug;     //Class Variable
        int vertex[6];          //stores locations of detected verticies
        double centroid[2];     //stores location of centroid
        
        int FindVertex();
        int VertexSwitch();
        
        long double RotationAngleFunc(int pixelwidth, int pixelheight);
        float TiltAngle1Func(long double RotAngle,int pixelheight, int pixelwidth, 
                                                const int centzerotilt[], double runit,double hunit);
        float TiltAngle2Func(long double RotAngle,int pixelheight, int pixelwidth, 
                                                const int centzerotilt[], double runit, double hunit);
        Vector vvangles;
};

#endif
 

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